CN111965537A - Motor parameter testing method - Google Patents
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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- G01R31/34—Testing dynamo-electric machines
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Abstract
The invention provides a motor parameter testing method, which is characterized by comprising the following steps: providing a motor monomer which is an optimal motor and at least comprises a vibrator, wherein the motor monomer is arranged on a tool, and an excitation signal is applied to the motor monomer to generate vibrator displacement; respectively applying N groups of first excitation signals with different voltage values to the motor monomers to obtain N groups of first parameter samples, and forming a first sample library, wherein N is a positive integer and is more than 1; applying a third excitation signal with a preset voltage value to the motor monomer, and acquiring the actually measured tool acceleration of the motor monomer; simulating the simulation tool acceleration of the motor monomer according to the plurality of first parameter samples, solving an error compared with the actually measured tool acceleration, and selecting the first sample parameter with the minimum error as the optimal parameter of the motor.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of automatic control, in particular to a method for searching optimal parameters of a motor.
[ background of the invention ]
With the development and popularization of various consumer electronic devices such as smart phones and smart wearing devices, the requirement of people on touch experience is increasing day by day. Currently, the main haptic feedback technology is achieved by providing a rich vibration sensation through a linear motor (LRA), so the vibration performance of the motor has a direct and large impact on the haptic experience.
The linear motor serves as a core providing device for the tactile feedback, and generally speaking, a classical second-order model can be used for carrying out relatively precise modeling analysis on the linear motor, so that rich tactile effect design is realized. However, the actual motor unit has more or less non-linearity, which is represented by the fact that the parameters in the classical model are not constant, but may be a curve that varies with the displacement of the vibrator. Therefore, how to find an optimal set of classical model modeling parameters under the objective fact of the nonlinear parameters so as to achieve the accurate motor modeling effect is an important content, and has a crucial influence on the design of the effect of the actual motor.
Therefore, it is necessary to provide an accurate motor optimum parameter searching method.
[ summary of the invention ]
The invention aims to provide a method for searching optimal parameters of a motor, and aims to provide an accurate method for searching the optimal parameters of the motor.
The technical scheme of the invention is as follows: a method of testing motor parameters, the method comprising the steps of:
providing a motor monomer which is an optimal motor and at least comprises a vibrator, wherein the motor monomer is arranged on a tool, and an excitation signal is applied to the motor monomer to generate vibrator displacement;
respectively applying N groups of first excitation signals with different voltage values to the motor monomers to obtain N groups of first parameter samples, and forming a first sample library, wherein N is a positive integer and is more than 1;
applying a third excitation signal with a preset voltage value to the motor monomer, and acquiring the actually measured tool acceleration of the motor monomer;
respectively simulating the simulated tool acceleration of the motor monomer according to the first parameter sample in the first sample library, and calculating the error between the simulated tool acceleration and the actually-measured tool acceleration;
and selecting the first parameter sample with the minimum error as the optimal parameter of the motor monomer.
Preferably, the method of presetting the voltage value of the third driving signal includes the steps of:
selecting a group of first parameter samples in the first sample library as sampling parameters;
respectively applying a plurality of second excitation signals with different frequency values to the motor single body to generate a plurality of second oscillator displacements corresponding to the different frequency values, and forming a displacement capacity curve of the second oscillator displacements relative to the different frequency values;
extracting a plurality of groups of second parameter samples formed by frequency values and second oscillator displacements corresponding to the frequency values according to the displacement capacity curve, and forming a second sample library;
and constructing a single-frequency displacement waveform according to the plurality of second parameter samples in the second sample library, and performing displacement equalization according to the sampling parameters to obtain voltage values corresponding to frequency values of the plurality of second parameter samples as third parameter samples, and forming a third sample library.
Preferably, third excitation signals with different voltage values are applied to the motor single body according to each third parameter sample in the third sample library, and a plurality of actually measured voltages at two ends of the motor single body and a plurality of actually measured tool accelerations are collected to form a fourth sample library;
and respectively simulating and obtaining a plurality of simulated tool accelerations of the motor monomers according to each first parameter sample in the first sample library, and calculating and obtaining the error between the simulated tool acceleration and the actually measured tool acceleration in the fourth sample library.
More preferably, the error is calculated by the expression:
err ═ accf-acm; wherein the content of the first and second substances,
EVM represents the error between the simulation tool acceleration and the actual measurement tool acceleration, accf represents the simulation tool acceleration, and acm represents the actual measurement tool acceleration.
Preferably, an error curve about different frequency values is formed according to the errors corresponding to the plurality of first parameter samples, and the first parameter sample corresponding to the error curve with the smallest error is selected as the optimal parameter of the motor unit.
Preferably, the parameters of the first parameter sample at least include motor resistance, motor inductance, vibrator mass, electromagnetic force coefficient, spring stiffness coefficient and motor damping.
Preferably, the motor unit generates a first oscillator displacement under the action of a first excitation signal, a first sample parameter of the motor unit is calculated through the first oscillator displacement, and a function expression of the first parameter sample is calculated as follows:
u represents a voltage value applied to both ends of the motor unit by the first excitation signal, i represents a current value of the first excitation signal passing through the motor unit, x represents the displacement of the vibrator, and R representseRepresents the motor resistance, LeRepresenting the motor inductance, Bl representing the electromagnetic force coefficient, m representing the vibrator mass, KmsRepresenting the spring stiffness coefficient, RmsIndicating the motor damping.
Preferably, the fourth excitation signal of the rated voltage value is applied to the motor single body once to obtain the actually measured vibration quantity of the motor single body, a plurality of groups of first parameter samples in the first sample library are extracted to respectively simulate and obtain the simulated vibration quantity of the motor single body corresponding to the rated voltage value, and a group of first parameter samples with the simulated vibration quantity closest to the actually measured vibration quantity is selected as the sampling parameter.
More preferably, the motor monomer has physical limit displacement, and the second oscillator displacement is less than or equal to the physical limit displacement.
Preferably, a single-frequency displacement waveform with the second oscillator displacement as the amplitude is constructed according to the frequency values of the second parameter samples in the second sample library.
The invention has the beneficial effects that: the method comprises the steps of obtaining first parameter samples serving as a plurality of parameters to be screened by applying first excitation signals with different voltage values to selected motor monomers, simulating simulation tool acceleration of the motor monomers according to the first parameter samples, solving errors compared with actually measured tool acceleration, and selecting the first sample parameter with the minimum error as the optimal parameter of the motor.
[ description of the drawings ]
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a graph illustrating the displacement capability of the present invention;
FIG. 3 is a sample diagram of a second parameter selected from FIG. 2 according to the present invention;
FIG. 4 is a schematic diagram of a single frequency shift waveform according to the present invention;
FIG. 5 is a schematic voltage waveform of a third parameter sample corresponding to FIG. 4;
FIG. 6 is a voltage waveform schematic of a steady state segment corresponding to FIG. 5;
FIG. 7 is a diagram illustrating errors corresponding to different first parameter samples according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram illustrating the testing principle of the motor unit of the present invention.
[ detailed description ] embodiments
The invention is further explained with reference to the drawings and the embodiments.
The invention provides a motor parameter testing method, which comprises the following steps of:
step S10: providing a motor unit 10 as an optimal motor;
more preferably, the motor unit 10 includes at least a vibrator for generating vibration, which generates a vibrator displacement. In this embodiment, a qualified motor unit 10 from a batch of qualified motor units 10 produced in a factory is screened out as an optimal motor unit 10 through a strict procedure.
Preferably, in this embodiment, the motor unit 10 is disposed on a tool, an excitation signal is applied to the motor unit 10 to generate a vibrator displacement, and each parameter is calculated by collecting data of the motor unit 10.
Step S20: respectively applying N groups of first excitation signals with different voltage values to the motor single bodies 10 to obtain N groups of first parameter samples, and forming a first sample library, wherein N is a positive integer and is greater than 1;
specifically, N groups of first excitation signals are respectively applied to the motor unit 10, voltage values of the N groups of first excitation signals are different from each other, the motor unit 10 generates first oscillator displacement under the action of the first excitation signals, N groups of first parameter samples corresponding to different voltage values are obtained by collecting displacement data of the first oscillators, and the N groups of first parameter samples form a first sample library. In this embodiment, let N equal to 7, and collect 7 sets of first parameter samples corresponding to different voltage values.
Preferably, the parameters of the first parameter sample at least include motor resistance, motor inductance, vibrator mass, electromagnetic force coefficient, spring stiffness coefficient and motor damping.
More preferably, the functional expression of the first parameter sample is:
wherein u represents a voltage value applied to both ends of the motor unit 10 by the first excitation signal, i represents a current value of the first excitation signal passing through the motor unit 10, x represents the first oscillator displacement, and R representseRepresents the motor resistance, LeRepresenting the motor inductance, Bl representing the electromagnetic force coefficient, m representing the vibrator mass, KmsRepresenting the spring stiffness coefficient, RmsIndicating the motor damping.
Step S30: selecting a group of first parameter samples in the first sample library as sampling parameters;
preferably, a fourth excitation signal of a rated voltage value is applied to the motor unit 10 once to obtain an actually measured vibration quantity of the motor unit 10, a plurality of groups of first parameter samples are extracted from N groups of first parameter samples in the first sample library, and simulated vibration quantities of the motor unit 10 corresponding to the rated voltage value are respectively simulated through the plurality of groups of first parameter samples.
Preferably, a group of first parameter samples of which the simulated vibration quantity is closest to the measured vibration quantity is selected as the sampling parameters.
Step S40: respectively applying a plurality of second excitation signals with different frequency values to the motor single body 10 to generate a plurality of second oscillator displacements corresponding to the different frequency values, and forming a displacement capacity curve of the second oscillator displacements relative to the different frequency values;
specifically, a plurality of second excitation signals are respectively applied to the motor unit 10, frequency values of the plurality of second excitation signals are different, so that a plurality of second oscillator displacements are generated, the plurality of second oscillator displacements correspond to different frequency values, and a displacement capability curve of the plurality of second oscillator displacements with respect to different frequency values is formed, referring to fig. 2. Because the motor single body 10 has physical limit displacement, the second oscillator displacement in the displacement capacity curve is less than or equal to the physical limit displacement.
Specifically, in an application scenario of the actual motor unit 10, a voltage value of the second excitation signal may limit a second oscillator displacement of the motor unit 10, for example, the voltage value is smaller than 9V, and meanwhile, the motor unit 10 also has a physical limit displacement, so that the second oscillator displacement that the motor unit 10 can reach under the action of the second excitation signal is further limited, and when a displacement capability curve is formed, the theoretical second oscillator displacement and the actual physical limit displacement obtain a second oscillator displacement size on the corresponding displacement capability curve in a manner that the two minimum values are obtained. The second transducer displacement on the displacement capability curve is defined as Y ═ min (Y1, Y2). And Y1 is a second oscillator displacement which can be theoretically reached by the motor single body 10 under the action of a 9V single-frequency second excitation signal, Y2 is an actually existing motor physical limit displacement, and the displacement capability curves of the motor single body 10 corresponding to the second excitation signals with different frequency values can be obtained by traversing different frequencies.
Step S50: extracting a plurality of groups of second parameter samples formed by frequency values and second oscillator displacements corresponding to the frequency values according to the displacement capacity curve, and forming a second sample library;
specifically, referring to fig. 3, each group of frequency values and the second oscillator displacements corresponding to the frequency values are combined into second parameter samples according to the displacement capability curve, and a plurality of groups of second parameter samples are extracted to form a second sample library.
Step S60: constructing a single-frequency displacement waveform according to a plurality of second parameter samples in the second sample library, and performing displacement equalization according to the sampling parameters to obtain voltage values corresponding to frequency values of the plurality of second parameter samples as third parameter samples, and forming a third sample library;
more preferably, reference is made to fig. 4 to 6, wherein the abscissa of the figure represents a "sample point", which can be understood as the first data of a signal sequence. Specifically, a single-frequency displacement waveform with the second oscillator displacement as the amplitude is constructed according to the frequency values of the second parameter samples in the second sample library.
Preferably, the second excitation signal is simulated according to the sampling parameters to act on the motor unit 10 to form an artificial oscillator displacement, and the artificial oscillator displacement and the second oscillator displacement are subjected to equalization processing to obtain an equalized oscillator displacement. And substituting the balanced oscillator displacement into a function expression of the first parameter sample to obtain a voltage value corresponding to the frequency value of the second parameter sample as a third parameter sample, wherein the obtaining of the voltage value of the excitation signal corresponding to the oscillator displacement through displacement balancing is a known technology, and the invention is not specifically developed.
Preferably, the plurality of second parameter samples correspond to a plurality of third parameter samples, and the plurality of third parameter samples form a third sample library.
Step S70: applying third excitation signals with different voltage values to the motor single body 10 according to each third parameter sample in the third sample library, and mining a plurality of actually measured voltages at two ends of the motor single body 10 and a plurality of actually measured tool accelerations to form a fourth sample library;
specifically, the third excitation signals with different voltage values are respectively applied to the motor cells 10, and the different voltage values correspond to different third parameter samples in the third sample library. The motor monomer 10 produces the vibration under the third excitation signal effect, and on vibration transmission to frock, the actual measurement frock acceleration of frock can be gathered through the accelerometer, the actual measurement voltage at motor monomer 10 both ends can be gathered through the voltmeter.
Specifically, referring to fig. 8, more preferably, the motor unit 10 is disposed on the tool 20, the motor unit 10 is electrically connected to the computer terminal 40, an acquisition card for converting a digital signal into an analog signal is integrated in the computer terminal 40, a power amplifier is disposed between the acquisition card and the motor unit 10, the power amplifier is electrically connected to both ends of the motor unit 10, and a shockproof sponge 30 is disposed at an end of the tool 20 away from the motor unit 10. The excitation signal is output from the computer terminal 40 in a digital signal form, the digital signal is converted into an analog signal through the acquisition card, the analog signal is amplified by the power amplifier and is loaded at two ends of the motor unit 10, the motor unit 10 generates vibration under the action of the excitation signal, the vibration is transmitted to the tool 20, corresponding tool acceleration data can be measured by using the accelerometer, the accelerometer is connected with the power amplifier, and the tool acceleration data is input into the computer terminal 40 for observation and processing after passing through the power amplifier and the acquisition card, so that the measured tool acceleration of the motor unit 10 is obtained.
Step S80: respectively simulating and obtaining a plurality of simulated tool accelerations of the motor single body 10 according to each first parameter sample in the first sample library, and calculating and obtaining errors between the simulated tool accelerations and the actually measured tool accelerations in the fourth sample library;
more preferably, the error is calculated by the expression:
err ═ accf-acm; wherein the content of the first and second substances,
EVM represents the error between the simulation tool acceleration and the actual measurement tool acceleration, accf represents the simulation tool acceleration, and acm represents the actual measurement tool acceleration.
Step S90: and selecting the first parameter sample with the minimum error as the optimal parameter of the motor single body 10.
Preferably, an error curve about different frequency values is formed according to the errors corresponding to a plurality of first parameter samples, and referring to fig. 7, the first parameter sample corresponding to the error curve with the smallest error is selected as the optimal parameter of the motor unit 10.
Therefore, the first parameter samples serving as a plurality of parameters to be screened are obtained by applying first excitation signals with different voltage values to the selected motor single bodies 10, the simulation tool acceleration of the motor single bodies 10 is simulated according to the first parameter samples, the error is solved compared with the actual measurement tool acceleration, and the first sample parameter with the minimum error is selected as the optimal parameter of the motor.
While the foregoing is directed to embodiments of the present invention, it will be understood by those skilled in the art that various changes may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A motor parameter testing method is characterized by comprising the following steps:
providing a motor monomer which is an optimal motor and at least comprises a vibrator, wherein the motor monomer is arranged on a tool, and an excitation signal is applied to the motor monomer to generate vibrator displacement;
respectively applying N groups of first excitation signals with different voltage values to the motor monomers to obtain N groups of first parameter samples, and forming a first sample library, wherein N is a positive integer and is more than 1;
applying a third excitation signal with a preset voltage value to the motor monomer, and acquiring the actually measured tool acceleration of the motor monomer;
respectively simulating the simulated tool acceleration of the motor monomer according to the first parameter sample in the first sample library, and calculating the error between the simulated tool acceleration and the actually-measured tool acceleration;
and selecting the first parameter sample with the minimum error as the optimal parameter of the motor monomer.
2. The motor parameter testing method of claim 1, wherein the method of presetting the voltage value of the third excitation signal comprises the steps of:
selecting a group of first parameter samples in the first sample library as sampling parameters;
respectively applying a plurality of second excitation signals with different frequency values to the motor single body to generate a plurality of second oscillator displacements corresponding to the different frequency values, and forming a displacement capacity curve of the second oscillator displacements relative to the different frequency values;
extracting a plurality of groups of second parameter samples formed by frequency values and second oscillator displacements corresponding to the frequency values according to the displacement capacity curve, and forming a second sample library;
and constructing a single-frequency displacement waveform according to the plurality of second parameter samples in the second sample library, and performing displacement equalization according to the sampling parameters to obtain voltage values corresponding to frequency values of the plurality of second parameter samples as third parameter samples, and forming a third sample library.
3. The motor parameter testing method of claim 2,
applying third excitation signals with different voltage values to the motor single body according to each third parameter sample in the third sample library, and stoping a plurality of actually measured voltages at two ends of the motor single body and a plurality of actually measured tool accelerations to form a fourth sample library;
and respectively simulating and obtaining a plurality of simulated tool accelerations of the motor monomers according to each first parameter sample in the first sample library, and calculating and obtaining the error between the simulated tool acceleration and the actually measured tool acceleration in the fourth sample library.
4. The motor parameter testing method of claim 1, wherein the error is calculated by the expression:
err ═ accf-acm; wherein the content of the first and second substances,
EVM represents the error between the simulation tool acceleration and the actual measurement tool acceleration, accf represents the simulation tool acceleration, and acm represents the actual measurement tool acceleration.
5. The motor parameter testing method of claim 4, wherein error curves about different frequency values are formed according to the errors corresponding to the first parameter samples, and the first parameter sample corresponding to the error curve with the smallest error is selected as the optimal parameter of the motor unit.
6. The motor parameter testing method of claim 1, wherein the parameters of the first parameter sample comprise at least motor resistance, motor inductance, vibrator mass, electromagnetic force coefficient, spring stiffness coefficient, and motor damping.
7. The motor parameter testing method according to claim 6, wherein the motor unit generates a first oscillator displacement under the action of a first excitation signal, a first sample parameter of the motor unit is calculated through the first oscillator displacement, and a function expression of the first parameter sample is calculated as follows:
u represents a voltage value applied to both ends of the motor unit by the first excitation signal, and i represents a voltage value of the first excitation signal passing through the motor unitCurrent value of motor unit, x represents displacement of vibrator, ReRepresents the motor resistance, LeRepresenting the motor inductance, Bl representing the electromagnetic force coefficient, m representing the vibrator mass, KmsRepresenting the spring stiffness coefficient, RmsIndicating the motor damping.
8. The motor parameter testing method according to claim 2, wherein a fourth excitation signal of a rated voltage value is applied to the motor unit once to obtain a measured vibration quantity of the motor unit, a plurality of sets of first parameter samples in the first sample library are extracted to respectively simulate and obtain a simulated vibration quantity of the motor unit corresponding to the rated voltage value, and a set of first parameter samples with the simulated vibration quantity closest to the measured vibration quantity is selected as sampling parameters.
9. The motor parameter testing method according to claim 2, wherein the motor monomer has a physical limit displacement, and the second oscillator displacement is less than or equal to the physical limit displacement.
10. The motor parameter testing method of claim 2, wherein a single frequency displacement waveform having the second vibrator displacement as an amplitude is constructed according to the frequency values of the plurality of second parameter samples in the second sample library.
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| WO2022110413A1 (en) * | 2020-11-30 | 2022-06-02 | 瑞声声学科技(深圳)有限公司 | Method and apparatus for determining nonlinear parameter of motor, and device and storage medium |
| WO2022247324A1 (en) * | 2021-05-24 | 2022-12-01 | 荣耀终端有限公司 | Motor damping measurement methods and system |
| CN116384031A (en) * | 2021-12-24 | 2023-07-04 | 武汉市聚芯微电子有限责任公司 | Simulation method and device for motor vibration effect |
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| CN111965537B (en) | 2021-10-08 |
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